CN205753191U - Four mechanical arm climb type inspection robot frame for movements - Google Patents
Four mechanical arm climb type inspection robot frame for movements Download PDFInfo
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- CN205753191U CN205753191U CN201620440419.3U CN201620440419U CN205753191U CN 205753191 U CN205753191 U CN 205753191U CN 201620440419 U CN201620440419 U CN 201620440419U CN 205753191 U CN205753191 U CN 205753191U
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- mechanical arm
- mechanical
- frame
- mechanical hand
- hand
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Abstract
The utility model discloses a kind of four mechanical arm climb type inspection robot frame for movements, belong to robotics.Described four mechanical arm climb type inspection robot frame for movements include frame, and four angles of described frame are respectively arranged with can be along the first mechanical arm, the second mechanical arm, three-mechanical arm and the 4th mechanical arm bent and stretched before and after the direction of travel of described frame；It is separately provided for grasping the first mechanical hand of circuit, the second mechanical hand, the 3rd mechanical hand and the 4th mechanical hand from below on described first mechanical arm, the second mechanical arm, three-mechanical arm and the 4th mechanical arm.Compared with prior art, this utility model has reducing labor intensity, reduces operating cost, and can the advantage of throwing over barrier.
Description
Technical field
This utility model relates to robotics, particularly relates to a kind of four mechanical arm climb type line walkings
Robotic's structure.
Background technology
Employing high pressure and supertension overhead power transmission line are the major ways of distance transmission & distribution electric power.Electric lines of force
And shaft tower adnexa is chronically exposed to field, because of by lasting mechanical tension, electrically dodge iron, material old
The impact changed and easily produce disconnected stock, wear and tear, corrode equivalent damage, as repaired replacing not in time, the most micro-
Little breakage and defect, it is possible to expand, ultimately result in major accident, cause large-area power failure and huge
Big economic loss.The method that current transmission pressure patrols and examines, safeguard mainly has two kinds: ground ocular estimate
With aerophotographic method.Ocular estimate uses manual inspection, and this method labor intensity is big, work efficiency and detection essence
Spend low, poor reliability, there is inspection blind area；Aerophotographic method uses helicopter line walking, although this method
There are higher detection efficiency and precision, but this method is restricted by some environmental factorss, patrols simultaneously
The technical difficulty of inspection is high, and operating cost is higher.The development of inspection robot technology, for high voltage transmission line
Check that work provides new technological means.
The technical research of existing inspection robot has been achieved for certain corresponding achievement, but for transmission of electricity
Barrier present on circuit or drainage thread cannot be crossed over, it is impossible to realize the continuous of extra high voltage network
Patrol and examine.Therefore, it is necessary to provide one can reduce labor intensity, reduce operating cost, again can
The inspection robot frame for movement of across obstacle or drainage thread.
Utility model content
The technical problems to be solved in the utility model is to provide one and can reduce labor intensity, reduce fortune
Row cost, again can across obstacle or four mechanical arm climb type inspection robot machinery knots of drainage thread
Structure.
For solving above-mentioned technical problem, this utility model provides technical scheme as follows:
A kind of four mechanical arm climb type inspection robot frame for movements, including frame, wherein:
Four angles of described frame are respectively arranged with can be along bending and stretching before and after the direction of travel of described frame
First mechanical arm, the second mechanical arm, three-mechanical arm and the 4th mechanical arm；
It is respectively provided with on described first mechanical arm, the second mechanical arm, three-mechanical arm and the 4th mechanical arm
Have for grasping the first mechanical hand of circuit, the second mechanical hand, the 3rd mechanical hand and the 4th machine from below
Tool hands.
Further, described first mechanical arm, the second mechanical arm, three-mechanical arm and the 4th mechanical arm
Include the most hinged first connecting rod, second connecting rod and third connecting rod respectively.
Further, described first mechanical hand, the second mechanical hand, the 3rd mechanical hand and the 4th mechanical hand
All include the mechanical finger that a pair expansible can be involutory.
Further, described third connecting rod is provided with the mechanical hand for hinged described mechanical finger
Wrist.
Further, between described frame and first connecting rod, between described first connecting rod and second connecting rod,
Hinged between described second connecting rod and third connecting rod and between described mechanical finger and mechanical wrist
Axle is all driven by motor.
Further, described mechanical finger is L hook-like configuration.
This utility model has the advantages that
The first mechanical arm, the second mechanical arm, three-mechanical arm and the 4th mechanical arm in this utility model
Being and can bend and stretch structure, the first mechanical hand, the second mechanical hand, the 3rd mechanical hand and the 4th mechanical hand divide
Can not open under the effect of the first mechanical arm, the second mechanical arm, three-mechanical arm and the 4th mechanical arm
Open, depart from circuit, when running into barrier, the first mechanical hand being positioned on diagonal and the 3rd machinery
Hands opens respectively, departs from circuit, and the first mechanical arm bends and stretches the first mechanical hand so that being positioned at central rack
Grasping circuit after moving to the front of frame the most from below, three-mechanical arm bends and stretches so that being positioned at machine
3rd mechanical hand at frame rear grasps circuit after moving to the middle part of frame the most from below, then,
The while that second mechanical hand and the 4th mechanical hand being respectively under the effect of the second mechanical arm and the 4th mechanical arm
Open, depart from circuit and drive frame to move forward, thus realize obstacle detouring.
To sum up, compared with prior art, this utility model has reducing labor intensity, reduces and run into
This and can throwing over barrier or the advantage of drainage thread.
Accompanying drawing explanation
Fig. 1 is the structural representation of four mechanical arm climb type inspection robot frame for movements of the present utility model
Figure；
Fig. 2-Figure 10 is getting over of four mechanical arm climb type inspection robot frame for movements of the present utility model
The view that each step of barrier method is corresponding.
Detailed description of the invention
For making the technical problems to be solved in the utility model, technical scheme and advantage clearer, below
To be described in detail in conjunction with the drawings and the specific embodiments.
On the one hand, this utility model provides a kind of four mechanical arm climb type inspection robot frame for movements,
As it is shown in figure 1, include frame 1, wherein:
Four angles of frame 1 are respectively arranged with can be along the first machine bent and stretched before and after the direction of travel of frame 1
Mechanical arm the 14, second mechanical arm 11, three-mechanical arm 2 and the 4th mechanical arm 15；
Divide on first mechanical arm the 14, second mechanical arm 11, three-mechanical arm 2 and the 4th mechanical arm 15
It is not provided with first mechanical hand the 7, second mechanical hand the 8, the 3rd machinery for grasping circuit from below
Hands 3 and the 4th mechanical hand 6.
Four mechanical arm climb type inspection robot frame for movements of the present utility model, the first mechanical arm,
Two mechanical arms, three-mechanical arm and the 4th mechanical arm are and can bend and stretch structure, the first mechanical hand, second
Mechanical hand, the 3rd mechanical hand and the 4th mechanical hand respectively can the first mechanical arm, the second mechanical arm,
Open under the effect of three-mechanical arm and the 4th mechanical arm, depart from circuit, and respectively can be by first
The realization of bending and stretching of mechanical arm, the second mechanical arm, three-mechanical arm and the 4th mechanical arm is moved, thus across
Obstacle-overpass thing.Compared with prior art, this utility model has reducing labor intensity, reduces and run into
This and can throwing over barrier or the advantage of drainage thread.
Preferably, first mechanical arm the 14, second mechanical arm 11, three-mechanical arm 2 and the 4th machinery
Arm 15 includes the most hinged first connecting rod 12, second connecting rod 10 and third connecting rod 9 respectively.This
It is designed to make the first mechanical arm, the second mechanical arm, three-mechanical arm and the 4th mechanical arm realize bending and stretching
Motion, thus drive the first mechanical hand, the second mechanical hand, the 3rd mechanical hand and the 4th robot movement,
Improve the speed of travel of inspection robot.In addition to the above-mentioned embodiment be given, it can also be adopted
With well known to a person skilled in the art other modes various, here is omitted.
Further, the first mechanical hand the 7, second mechanical hand the 8, the 3rd mechanical hand 3 and the 4th machinery
Hands 6 all includes the mechanical finger 5 that a pair expansible can be involutory, and additionally mechanical finger 5 is L hook knot
Structure.The design of this structure can make the first mechanical hand, the second mechanical hand, the 3rd mechanical hand and the 4th machinery
The action of hands is more fine, improves and embraces the accuracy grabbed.
Further, third connecting rod 9 is provided with the mechanical wrist 4 referring to 5 for articulated robot arm.
This design simple in construction, it is possible to make the first mechanical hand, the second mechanical hand, the 3rd mechanical hand and the 4th
Mechanical hand grasps solid conductor the most from below.
As further improvement of the utility model, between frame 1 and first connecting rod 12, first even
Between bar 12 and second connecting rod 10, between second connecting rod 10 and third connecting rod 9 and mechanical hand
Refer to that the jointed shaft 13 between 5 and mechanical wrist 4 is all driven by motor.The design of this structure is permissible
Ensure that inspection robot is difficult to collide wire when walking, improve motility during travelling robot walking
And safety.
It addition, as it is shown in figure 1, the third connecting rod 9 in this utility model can be L-type structure, machine
Frame 1 can be provided with groove, this design simple in construction, can alleviate weight, improves line walking machine
The safety of people.
It should be noted that inspection robot frame for movement of the present utility model merely illustrates robot
The frame for movement of body, is not directed to other auxiliary device (photographic head, rubbish such as walking observation
Remove mechanical hand etc.) design.It addition, in terms of control system, this utility model can be adopted
By ground remote control table or robot self intelligentized control method two ways.
Four mechanical arm climb type inspection robot frame for movements of the present utility model can have when obstacle detouring
Various motion method, effect is preferable, control the most at least following two, enters separately below
Row is discussed in detail.
Obstacle-detouring method one, as Figure 1-4, for convenience of drawing, is depicted as square by transmission line of electricity, real
Border is circular cross-section, including:
Step 1: during as it is shown in figure 1, do not run into barrier, the first machinery, 14 and the 4th mechanical arm
15 bend and stretch respectively so that the first mechanical hand 7 and the 4th mechanical hand 6 are respectively positioned on middle part and the grasping of frame 1
Living circuit, the second mechanical arm 11 and three-mechanical arm 2 bend and stretch respectively so that the second mechanical hand 8 and the
Three mechanical hands 3 lay respectively at the front and back of frame 1 and grasp circuit；
Step 2: the first mechanical hand 7 and the 3rd mechanical hand 3 are respectively at the first mechanical arm 14 and the 3rd machine
Opening under the effect of mechanical arm 2 simultaneously, depart from circuit, now, frame 1 maintains static, the first machinery
Arm 14 bends and stretches so that the first mechanical hand 7 is positioned at the front of frame 1 and again grasps circuit, and the 3rd
Mechanical arm 2 bends and stretches so that the 3rd mechanical hand 3 is positioned at the middle part of frame 1 and again grasps circuit；
Step 3: the second mechanical hand 8 and the 4th mechanical hand 6 are respectively at the second mechanical arm 11 and the 4th machine
Open under the effect of mechanical arm 15 simultaneously, depart from circuit and drive frame 1 to move forward, now, the first machine
Tool hands 7 and the 4th mechanical hand 6 bending and stretching at described first mechanical arm 14 and the 4th mechanical arm 15 respectively
Being respectively positioned on the middle part of frame 1 under effect, described second mechanical arm 11 and three-mechanical arm 2 are bent respectively
Stretch so that the second mechanical hand 8 and the 3rd mechanical hand 3 lay respectively at the front and back of frame 1；
Step 4: the second mechanical hand 8 and the 4th mechanical hand 6 are respectively at the second mechanical arm 11 and the 4th machine
Grasp circuit under the effect of mechanical arm 15 simultaneously, then go to step 1, when running into barrier, the
One mechnisiam, the second mechanical hand the 8, the 3rd mechanical hand 3 and the 4th mechanical hand 6 avoiding obstacles move ahead.
Obstacle-detouring method two:
Step 1: when not running into barrier, described first mechanical arm 14 and the 4th mechanical arm 15 are respectively
Bend and stretch so that described first mechanical hand 7 and the 4th mechanical hand 6 are respectively positioned on the middle part of described frame 1 and grab
Handling circuit, described second mechanical arm 11 and three-mechanical arm 2 bend and stretch respectively so that described second machine
Tool hands 8 and the 3rd mechanical hand 3 lay respectively at the front and back of described frame 1 and grasp circuit；
Step 2: described first mechanical hand 7 opens under described first mechanical arm 14 effect, departs from line
Road, now, described frame 1 maintains static, and described first mechanical arm 14 bends and stretches so that described first
Mechanical hand 7 is positioned at the front of described frame 1 and again grasps circuit；
Step 3: described 3rd mechanical hand 3 opens, depart from circuit after at described three-mechanical arm 2
Bend and stretch and be positioned at the middle part of described frame 1 under effect and again grasp circuit, then, described 4th machine
Tool hands 6 opens under the effect of described 4th mechanical arm 15, departs from circuit and drive described frame 1
Reach, now, described first mechanical hand 7 and the 4th mechanical hand 6 are respectively at described first mechanical arm 14
The middle part of described frame 1 it is positioned under effect, described three-mechanical arm 2 with bending and stretching of the 4th mechanical arm 15
Bend and stretch so that described 3rd mechanical hand 3 is positioned at the rear of described frame 1；
Step 4: described second mechanical hand 8 opens, depart from circuit after at described second mechanical arm 11
Bend and stretch and be positioned at the front of described frame 1 under effect and again grasp circuit, then go to step 1,
First mechanical hand the 7, second mechanical hand the 8, the 3rd mechanical hand 3 and the 4th described in when running into barrier
Mechanical hand 6 avoiding obstacles moves ahead.
This utility model when running into barrier, obstacle-detouring method one be on diagonal two groups machinery
Hands opens simultaneously, departs from circuit, and travels forward under the effect that corresponding mechanical arm bends and stretches respectively,
This obstacle-detouring method speed of travel is higher；In order to improve inspection robot at normal work or across obstacle
Time safety, the inspection robot in obstacle-detouring method two is when running into barrier, in four groups of mechanical hands
Wherein three groups grasp circuit simultaneously, one group of mechanical hand opens, departs from circuit and at corresponding mechanical arm
Effect of bending and stretching under travel forward.To sum up two kinds of obstacle-detouring methods in this utility model all solve existing
In technology, the problem that artificial line walking labor intensity is big and aircraft line walking operating cost is high, and often can cross
Rule barrier (such as drainage thread, insulator chain, aluminium hydraulic pressed connecting pipe, suspension clamp etc.), it is achieved that to circuit
Patrol and examine continuously.Compared with prior art, there is reducing labor intensity, reduce operating cost, raising
Inspection robot safety, and can the advantage of throwing over barrier.
In order to increase the inspection robot frictional force when normal work or climb and fall, improve safety,
The obstacle-detouring method of four mechanical arm climb type inspection robot frame for movements has been made to enter one by this utility model
Step is improved, as shown in Figure 5-10, and including:
Step 2 is further: as it is shown in figure 5, the first mechanical hand 7 and the 3rd mechanical hand 3 exist respectively
Open under the effect of the first mechanical arm 14 and three-mechanical arm 2 simultaneously, depart from circuit, now, machine
Frame 1 maintains static, and the first mechanical arm 14 bends and stretches so that the first mechanical hand 7 is positioned at the front of frame 1
And with horizontal plane again grasp circuit, three-mechanical arm 2 bends and stretches so that the 3rd mechanical hand 3
It is positioned at the middle part of frame 1 and again grasps circuit；
Step 3 is further: as shown in Figure 6, and the second mechanical hand 8 and the 4th mechanical hand 6 exist respectively
Open under the effect of the second mechanical arm 11 and the 4th mechanical arm 15 simultaneously, depart from circuit, the second machinery
Arm 11 and the 4th mechanical arm 15 bend and stretch respectively so that the second mechanical hand 8 and the 4th mechanical hand 6 position respectively
Again circuit, now, frame 1 and the second mechanical hand 8 is grasped behind the front and middle part of frame 1
All and horizontal plane；
Step 31 is also included between step 4: as Figure 7-8, the first mechanical hand 7 after step 3
Open under the effect of the first mechanical arm 14 and three-mechanical arm 2 respectively with the 3rd mechanical hand 3, simultaneously
Again circuit is grasped after departing from circuit and driving frame 1 reach, then, the second mechanical hand 8 and the
Four mechanical hands 6 open simultaneously, depart from circuit, and the second mechanical arm 11 and the 4th mechanical arm 15 are bent respectively
Stretch so that the second mechanical hand 8 and the 4th mechanical hand 6 lay respectively at behind the front of frame 1 and middle part again
Grasping circuit, now, the 3rd mechanical hand 3 and the 4th mechanical hand 6 are all and horizontal plane；
Step 32 is also included between step 4: as shown in figs. 9-10, the first mechanical hand after step 31
7 open, depart from circuit after reach again grasp line under the effect of bending and stretching of the first mechanical arm 14
Road, now, the first mechanical hand 7 is perpendicular to horizontal plane, then, the second mechanical hand 8 and the 4th machinery
Hands 6 opens under the effect of the second mechanical arm 11 and the 4th mechanical arm 15 respectively simultaneously, departs from circuit
And again grasp circuit after driving frame 1 reach, and then, the 3rd mechanical hand 3 opens, departs from
Move forward under the effect of bending and stretching of three-mechanical arm 2 after circuit and again grasp circuit, now, first
Mechanical hand the 7, second mechanical hand the 8, the 3rd mechanical hand 3 and the 4th mechanical hand 6 are each perpendicular to horizontal plane,
Frame 1 and plane-parallel.
The above is preferred implementation of the present utility model, it is noted that for the art
Those of ordinary skill for, on the premise of without departing from principle described in the utility model, it is also possible to make
Going out some improvements and modifications, these improvements and modifications also should be regarded as protection domain of the present utility model.
Claims (6)
1. a mechanical arm climb type inspection robot frame for movement, it is characterised in that include machine
Frame, wherein:
Four angles of described frame are respectively arranged with can be along bending and stretching before and after the direction of travel of described frame
First mechanical arm, the second mechanical arm, three-mechanical arm and the 4th mechanical arm；
It is respectively provided with on described first mechanical arm, the second mechanical arm, three-mechanical arm and the 4th mechanical arm
Have for grasping the first mechanical hand of circuit, the second mechanical hand, the 3rd mechanical hand and the 4th machine from below
Tool hands.
Four mechanical arm climb type inspection robot frame for movements the most according to claim 1, its
Being characterised by, described first mechanical arm, the second mechanical arm, three-mechanical arm and the 4th mechanical arm are respectively
Including the most hinged first connecting rod, second connecting rod and third connecting rod.
Four mechanical arm climb type inspection robot frame for movements the most according to claim 1, its
Being characterised by, described first mechanical hand, the second mechanical hand, the 3rd mechanical hand and the 4th mechanical hand all wrap
Include the mechanical finger that a pair expansible can be involutory.
4. according to the arbitrary four described mechanical arm climb type inspection robot machineries of claims 1 to 3
Structure, it is characterised in that be provided with the machinery for hinged described mechanical finger on described third connecting rod
Wrist.
Four mechanical arm climb type inspection robot frame for movements the most according to claim 4, its
It is characterised by, between described frame and first connecting rod, between described first connecting rod and second connecting rod, institute
State the jointed shaft between second connecting rod and third connecting rod and between described mechanical finger and mechanical wrist
All driven by motor.
Four mechanical arm climb type inspection robot frame for movements the most according to claim 5, its
Being characterised by, described mechanical finger is L hook-like configuration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620440419.3U CN205753191U (en) | 2016-05-12 | 2016-05-12 | Four mechanical arm climb type inspection robot frame for movements |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620440419.3U CN205753191U (en) | 2016-05-12 | 2016-05-12 | Four mechanical arm climb type inspection robot frame for movements |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205753191U true CN205753191U (en) | 2016-11-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620440419.3U Expired - Fee Related CN205753191U (en) | 2016-05-12 | 2016-05-12 | Four mechanical arm climb type inspection robot frame for movements |
Country Status (1)
| Country | Link |
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| CN (1) | CN205753191U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106025909A (en) * | 2016-05-12 | 2016-10-12 | 国网山东省电力公司检修公司 | Four-mechanical-arm climbing line-patrolling robot mechanical structure and obstacle crossing method thereof |
| CN106737762A (en) * | 2017-03-07 | 2017-05-31 | 长春理工大学 | A kind of automatic wiring machine routing machine people |
-
2016
- 2016-05-12 CN CN201620440419.3U patent/CN205753191U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106025909A (en) * | 2016-05-12 | 2016-10-12 | 国网山东省电力公司检修公司 | Four-mechanical-arm climbing line-patrolling robot mechanical structure and obstacle crossing method thereof |
| CN108039681A (en) * | 2016-05-12 | 2018-05-15 | 山东大学 | Four mechanical arm climb type inspection robot mechanical structures and its obstacle-detouring method |
| CN108039681B (en) * | 2016-05-12 | 2020-03-03 | 山东大学 | Four-mechanical-arm climbing type line patrol robot mechanical structure and obstacle crossing method thereof |
| CN106737762A (en) * | 2017-03-07 | 2017-05-31 | 长春理工大学 | A kind of automatic wiring machine routing machine people |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161130 Termination date: 20180512 |
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| CF01 | Termination of patent right due to non-payment of annual fee |